Function TEST

tests/integration/test_Issue719.cpp:194–213

============================================================================== Exercises PART A: the default World solver is a BoxedLcpConstraintSolver with the Dantzig primary and the PGS secondary solver. Stepping a non-axis-aligned closed loop must not produce NaN/Inf or abort.

// the Dantzig primary and the PGS secondary solver. Stepping a non-axis-aligned
// closed loop must not produce NaN/Inf or abort.
TEST(Issue719, NonAxisAlignedClosedLoopDefaultSolver)
{
  BodyNode* base = nullptr;
  BodyNode* lastLink = nullptr;
  Eigen::Vector3d loopAnchor = Eigen::Vector3d::Zero();
  SkeletonPtr skel = createNonAxisAlignedFourBar(&base, &lastLink, loopAnchor);

  WorldPtr world = World::create();
  world->setGravity(Eigen::Vector3d(0.0, 0.0, -9.81));
  world->addSkeleton(skel);

  // Close the kinematic loop with a ball joint constraint between the last
  // link and the base. This is what makes the chain a closed loop.
  auto loopConstraint = std::make_shared<constraint::BallJointConstraint>(
      lastLink, base, loopAnchor);
  world->getConstraintSolver()->addConstraint(loopConstraint);

  EXPECT_NO_FATAL_FAILURE(
      stepAndCheckLoopClosed(world, skel, base, lastLink, loopAnchor));
}

//==============================================================================
// Exercises PART B: with the secondary solver explicitly disabled (nullptr)